CN114715791A - PLC redundancy control network system of large-scale casting crane - Google Patents
PLC redundancy control network system of large-scale casting crane Download PDFInfo
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/18—Control systems or devices
- B66C13/48—Automatic control of crane drives for producing a single or repeated working cycle; Programme control
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/18—Control systems or devices
- B66C13/40—Applications of devices for transmitting control pulses; Applications of remote control devices
- B66C13/44—Electrical transmitters
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/05—Programmable logic controllers, e.g. simulating logic interconnections of signals according to ladder diagrams or function charts
- G05B19/052—Linking several PLC's
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
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Abstract
The invention provides a PLC redundant control network system of a large-scale casting crane, which mainly comprises a redundant PLC controller, a first distributed I/O device, a second distributed I/O device, a third distributed I/O device, a fourth distributed I/O device, a fifth distributed I/O device, a first execution mechanism frequency converter control unit, a second execution mechanism frequency converter control unit, a third execution mechanism frequency converter control unit, a fourth execution mechanism frequency converter control unit, a first data switch, a second data switch, a third data switch and a fourth data switch, wherein the devices are respectively connected into a PROFINET network with a ring topology structure. The invention realizes dual redundant hot standby control of system redundancy and network transmission medium redundancy, improves the control precision and system stability of the crane, reduces equipment failure shutdown and improves the production efficiency of enterprises.
Description
Technical Field
The invention relates to the technical field of electrical control of cranes, in particular to a PLC (programmable logic controller) redundancy control network system of a large-scale casting crane.
Background
The casting crane is one of key equipment for steel making operation, is used for lifting molten metal, and has the advantages of severe use environment and high working level. Accordingly, there is a need for a mature and reliable electrical control system for a ladle crane. The development and innovation of the crane depend on the upgrading and updating of the electrical control technology to a great extent. With the rapid development of communication network, transmission control and other technologies, the method has important significance for the development of electrical control and automatic upgrade of cranes.
Currently, most of the casting cranes remote substations and frequency converters are connected by a single fieldbus. A redundant system based on a PROFIBUS-DP field bus framework and formed by a redundant CPU and a remote substation is adopted on hoisting equipment such as individual nuclear power station cranes and large-scale casting cranes, but the defects of low communication rate, poor anti-interference performance and the like exist, and redundant communication connection is not realized on key devices such as a frequency converter and the like.
Disclosure of Invention
In view of the defects of the prior art, the invention provides a PLC redundancy control network system of a large-scale casting crane. The invention constructs a redundancy controller and a redundancy control network system composed of the redundancy controller, distributed I/O equipment, frequency converters of various mechanisms, an Industrial Personal Computer (IPC), a touch screen (HMI) and the like based on an industrial Ethernet network, realizes dual redundancy hot standby control of system redundancy and network transmission medium redundancy, improves the control precision and the system stability of a crane, reduces equipment fault shutdown and improves the production efficiency of enterprises.
The technical means adopted by the invention are as follows:
a large ladle crane PLC redundant control network system comprising:
disposed within the first electrical chamber:
a redundant PLC controller is arranged on the PLC controller,
a first distributed I/O device and a second distributed I/O device,
a first actuator transducer control unit and a second actuator transducer control unit,
a first data switch;
set up at second electric room:
the second data switch is matched with the first data switch to realize data exchange between the first electrical indoor equipment and the second electrical indoor equipment;
a third actuator frequency converter control unit and a fourth actuator frequency converter control unit,
a third distributed I/O device and a fourth distributed I/O device,
a third data switch;
set up in the driver's cabin:
the fourth data switch is matched with the third data switch to realize data exchange between the second electrical indoor equipment and the cab equipment;
a fifth distributed I/O device;
the redundant PLC controller, the first distributed I/O device, the second distributed I/O device, the third distributed I/O device, the fourth distributed I/O device, the fifth distributed I/O device, the first execution mechanism frequency converter control unit, the second execution mechanism frequency converter control unit, the third execution mechanism frequency converter control unit, the fourth execution mechanism frequency converter control unit, the first data switch, the second data switch, the third data switch and the fourth data switch are respectively connected to a PROFINET network of a ring topology structure.
And furthermore, the system also comprises a Y-LINK coupler arranged in the first electric chamber, and the Y-LINK coupler is used for respectively connecting a main lifting height absolute value encoder, an auxiliary lifting height absolute value encoder, a main trolley gray bus, an auxiliary trolley gray bus and a main trolley gray bus for realizing three-dimensional positioning of the crane to the PROFINET network of the annular topological structure.
Furthermore, the system also comprises an industrial personal computer, a touch screen and a wireless transmission module which are connected with the redundant PLC through an industrial Ethernet; the industrial computer sets up in first electric indoor, the touch-sensitive screen sets up in the driver's cabin, wireless transmission module is used for with ground central control room communication connection.
Furthermore, the redundant PLC controller comprises a main controller and a standby controller which are identical in structure, and the main controller and the standby controller run synchronously.
Furthermore, the first actuator frequency converter control unit, the second actuator frequency converter control unit, the third actuator frequency converter control unit and the fourth actuator frequency converter control unit respectively realize data transmission with a frequency conversion device of the actuator through a DRIVE-CLiQ digital interface, and the actuator comprises a main lifting mechanism, an auxiliary lifting mechanism, a main trolley, an auxiliary trolley and a trolley mechanism of the large-scale casting crane.
Further, the first actuating mechanism frequency converter control unit controls the first active rectifying unit and the first main hoisting inverter;
the second actuating mechanism frequency converter control unit controls the auxiliary hoisting inverter, the first main trolley inverter and the first cart inverter;
the third actuating mechanism frequency converter control unit controls the second active rectifying unit and the second main lifting inverter;
the fourth executing mechanism frequency converter control unit controls the auxiliary trolley inverter, the second main trolley inverter and the second cart inverter;
the first execution mechanism frequency converter control unit and the third execution mechanism frequency converter control unit are respectively provided with a CBE20 communication board for realizing torque master-slave control between the two main hoisting inverters.
Compared with the prior art, the invention has the following advantages:
1) the invention adopts the double CPU controller with the hot standby redundancy function, and when a fault occurs, the double CPU controller is automatically switched without disturbance, thereby avoiding the system halt and ensuring the continuity of production operation.
2) The PROFINET network communication speed based on the industrial Ethernet communication technology is up to 100Mbps, and the PROFINET network communication method has the advantages of high communication speed, strong anti-interference performance and the like.
3) The annular topological PROFINET network structure adopted by the invention avoids the interruption of equipment communication, ensures the real-time, accurate and reliable transmission of data and improves the reliability of the system.
4) The frequency converter of the executing mechanism is accessed into the annular PROFINET network, so that redundant communication is realized, and equipment halt caused by communication faults of the frequency converter is avoided.
5) Compared with the traditional control system of the casting crane, the control system of the casting crane has the advantages that the advanced sensing technology, the wireless communication technology, the transmission technology, the PLC processing technology, the Internet of things and the Internet + technology are deeply integrated, the safety and the reliability of the casting crane are improved, and the continuity of steel-making production is ensured; the labor intensity and the operation risk of maintenance personnel are reduced, and the stability and the production efficiency of the system are improved.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the embodiments or the description of the prior art will be briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.
FIG. 1 is a PLC redundant control network system diagram of a large-scale casting crane according to the invention.
In the figure: 1-1, a main controller; 1-2, a standby controller; 2-1, a first distributed I/O device; 2-2, a second distributed I/O device; 2-3, a third distributed I/O device; 2-4, a fourth distributed I/O device; 2-5, a fifth distributed I/O device; 3-1, a second actuator frequency converter control unit; 3-2, a first actuator frequency converter control unit; 3-3, a third actuator frequency converter control unit; 3-4, a fourth actuator frequency converter control unit; 4-1, a first data switch; 4-2, a second data switch; 4-3, a third data switch; 4-4, a fourth data switch; 5. PROFINET networks with ring topology; 6-1, a main lifting height absolute value encoder; 6-2, an absolute value encoder of the auxiliary hoisting height; 7-1, a gray bus of the main trolley; 7-2, an auxiliary trolley lightning bus; 7-3, a cart gray bus; 8. a Y-LINK coupler; 9. a PROFIBUS-DP network; 10. an industrial personal computer; 11. a touch screen; 12. a wireless transmission module; 13. industrial ethernet.
Detailed Description
It should be noted that the embodiments and features of the embodiments may be combined with each other without conflict. The present invention will be described in detail below with reference to the embodiments with reference to the attached drawings. It should be noted that the terms "first", "second", and the like are used for limiting the elements, and are only used for convenience of distinguishing the corresponding elements, and the terms do not have special meanings unless otherwise stated, and therefore, the scope of the present invention should not be construed as being limited.
The embodiment of the invention provides a PLC redundancy control network system of a large-scale casting crane, which mainly comprises a PROFINET network 5 which is communicated with a first electric room, a second electric room and elements in a driver room and has a ring topology structure. Wherein the first electrical room is the electrical room of driver's cab side, the second electrical room is the electrical room of high-voltage chamber side.
Be provided with in the first electric room: the system comprises a redundant PLC controller, a first distributed I/O device 2-1, a second distributed I/O device 2-2, a first execution mechanism frequency converter control unit 3-2, a second execution mechanism frequency converter control unit 3-1 and a first data switch 4-1.
The second electric room is internally provided with: a second data switch 4-2, a third actuator transducer control unit 3-3 and a fourth actuator transducer control unit 3-4, a third distributed I/O device 2-3 and a fourth distributed I/O device 2-4 and a third data switch 4-3.
The driver cab is internally provided with: a fourth data switch 4-4 and a fifth distributed I/O device 2-5.
The redundant PLC controller, the first distributed I/O device 2-1, the second distributed I/O device 2-2, the third distributed I/O device 2-3, the fourth distributed I/O device 2-4, the fifth distributed I/O device 2-5, the first execution mechanism frequency converter control unit 3-2, the second execution mechanism frequency converter control unit 3-1, the third execution mechanism frequency converter control unit 3-3, the fourth execution mechanism frequency converter control unit 3-4, the first data switch 4-1, the second data switch 4-2, the third data switch 4-3 and the fourth data switch 4-4 are respectively connected to a PROFINET network 5 with a ring topology structure. It should be noted that, in this embodiment, the distributed I/O devices are used for acquiring signals and outputting signals, and are set according to actual needs in the field, and because there are few components in the cab, one distributed I/O device is set, and there are more components in the first electrical room and the second electrical room, two distributed I/O devices are set.
Specifically, the redundant PLC controllers mainly include serial products such as siemens S7-400H, S7-1500R/H, ABB AC 800M, schneider Modicon quincun, and AB Control Logix, and the embodiment preferably adopts siemens S7-400H redundant PLC as an example to describe the technical scheme of the PLC redundant Control network system of the large-scale casting crane.
As a preferred embodiment of the present invention, the system further includes a Y-LINK coupler 8 disposed in the first electrical chamber, and the Y-LINK coupler is configured to connect a main absolute lifting height encoder 6-1, an auxiliary absolute lifting height encoder 6-2, a main trolley gray bus 7-1, an auxiliary trolley gray bus 7-2, and a main trolley gray bus 7-3, which are used to implement three-dimensional positioning of the crane, to the PROFINET network 5 having an annular topology structure, respectively.
Preferably, the main hoisting mechanism and the auxiliary hoisting mechanism are provided with absolute value encoders 6-1 and 6-2, the main trolley mechanism, the auxiliary trolley mechanism and the main trolley mechanism are provided with Gray buses 7-1, 7-2 and 7-3, the three-dimensional positioning of the crane is realized, and the Y-LINK coupler 8 is used for connecting equipment with a single PROFIBUS-DP 9 interface to a redundant system.
As a preferred embodiment of the present invention, the system further includes an industrial personal computer 10, a touch screen 11 and a wireless transmission module 12 connected to the redundant PLC controller through an industrial ethernet 13; the industrial computer 10 is arranged in a first electric room, the touch screen 11 is arranged in a driver's cab, and the wireless transmission module 12 is used for being in communication connection with a ground central control room.
Preferably, the industrial personal computer IPC10 and the human-computer interface HMI11 are used as upper computers, CPU data are read through an Ethernet module, the state of the crane is monitored in real time, data recording is carried out, data collection, storage and analysis are carried out on mechanisms such as key components and transmission devices of the crane, data support is provided for daily maintenance, service life assessment and accident judgment of the crane, and the full life cycle management of the crane is realized. The crane vehicle-mounted control and video data are sent to the ground central control room through the wireless transmission module 12, so that the management and maintenance production process is realized, the production process is optimized, the equipment availability is improved, the production cost is reduced, and the economic benefit is improved. The method has important promoting significance for the automatic development of the crane and the intelligent upgrade of a factory.
In this embodiment, the entire control network system has a dual redundant hot standby function of control system redundancy and network transmission medium redundancy, and it is ensured that when any controller or network node fails, the crane can continue to operate, thereby improving system stability, reducing equipment downtime, and improving enterprise production efficiency. In addition, the wireless transmission module 12 is arranged and is in butt joint with a logistics system of a ground crane, so that logistics tracking and intelligent scheduling management of a steel-making workshop are met. The specific scheme is shown in figure 1.
Further preferably, the redundant PLC controller comprises a main controller 1-1 and a standby controller 1-2 which are identical in structure, and the main controller 1-1 and the standby controller 1-2 run synchronously. Specifically, the redundant PLC controller comprises a redundant power supply module, a redundant CPU module, a synchronous module for redundant CPU communication and a synchronous optical fiber. The redundant CPU module includes a main CPU and a standby CPU which simultaneously process project data and user programs of the control system of the casting crane in parallel and permanently synchronize all relevant data. If the main CPU breaks down, the standby CPU automatically takes over the process control at the interrupt point, thereby avoiding the risks of the traditional single PLC system caused by the fault shutdown and the data loss, enhancing the stability and the reliability of the system, and reducing the field maintenance amount and the maintenance time. The redundant controllers 1-1 and 1-2 are used as control master stations of the system, adopt a system redundancy SR (System redundancy) control scheme, are responsible for exchanging data with the distributed I/O devices 2-1, 2-2, 2-3, 2-4 and 2-5 and the frequency converter control units 3-1, 3-2, 3-3 and 3-4 of the execution mechanisms in a preset cycle period, sending control instructions, reading slave station state information and the like, are in exchange connection with the industrial personal computer IPC10, the touch screen HMI11 and the wireless transmission module 12, and are used for remote control, display and the like.
Further preferably, the distributed I/0 devices 2-1, 2-2, 2-3, 2-4 and 2-5 adopt ET 200MP remote systems which are respectively arranged in a first electric room, a second electric room and a driver room, data such as switch states, operation instructions and the like are connected with the annular PROFINET network 5 through the IM155-5 PN HF interface module and then transmitted to the redundant controllers 1-1 and 1-2, and therefore wiring installation and maintenance cost is greatly saved.
Further preferably, the first actuator frequency converter control unit 3-2, the second actuator frequency converter control unit 3-1, the third actuator frequency converter control unit 3-3 and the fourth actuator frequency converter control unit 3-4 respectively realize data transmission with a frequency conversion device of the actuator through a DRIVE-CLiQ digital interface, and the actuator comprises a main hoisting, an auxiliary hoisting, a main trolley, an auxiliary trolley and a cart mechanism of the large-scale foundry crane.
Specifically, motors of mechanisms such as a main hoisting mechanism and an auxiliary hoisting mechanism of a large-scale casting crane, a main trolley mechanism, an auxiliary trolley mechanism, a cart mechanism and the like are driven by a Siemens S120 frequency conversion device, data transmission is realized by four control units CU320-2 PN3-1, 3-2, 3-3 and 3-4 through a DRIVE-CLiQ digital interface and the frequency conversion device, a control circuit is simple, and fault maintenance is convenient and rapid.
In this embodiment, the first actuator frequency converter control unit 3-2 controls the first active rectifying unit and the first main hoisting inverter, the second actuator frequency converter control unit 3-1 controls the auxiliary hoisting inverter, the first main trolley inverter and the first cart inverter, the third actuator frequency converter control unit 3-3 controls the second active rectifying unit and the second main hoisting inverter, and the fourth actuator frequency converter control unit 3-4 controls the auxiliary trolley inverter, the second main trolley inverter and the second cart inverter. The first execution mechanism frequency converter control unit 3-2 and the third execution mechanism frequency converter control unit 3-3 are respectively provided with a CBE20 communication board for realizing torque master-slave control between the two main hoisting inverters. The control units CU320-2 PN3-1, 3-2, 3-3 and 3-4 of the frequency converter of the actuating mechanism are connected into the annular PROFINET network 5 through two PROFINET interfaces of the control units. It should be noted that, when the large-scale ladle crane is in a normal state, the first active rectification unit and the second active rectification unit are used as conventional components of a driving system, and the two units work simultaneously; when one rectifying unit fails, the other rectifying unit works independently, and the running speed is reduced by half. In addition, because the auxiliary hoisting and auxiliary trolley inverter of the large-scale casting crane does not work frequently and can be switched by other frequency converters to meet emergency use, the auxiliary hoisting and auxiliary trolley inverter of the large-scale casting crane are not designed redundantly, and in the embodiment, a driving system of the large-scale casting crane forms a Chinese patent application with the reference application number of CN 2010105711980.
Compared with the PROFIBUS-DP bus network with the maximum communication rate of only 12Mbps, the PROFINET network 5 adopted by the invention has the communication rate of up to 10Gbps, and has the advantages of high communication rate, strong anti-interference capability and the like. And optical port data switches 4-1, 4-2, 4-3 and 4-4 are designed between the first electric room and the second electric room and between the second electric room and the driver's cab and are connected by using multimode optical fibers as transmission media, so that the problems of interference of a power cable on a communication cable in a cable path and long communication distance are solved. The PROFINET network 5 is a ring topology structure, and once network components such as switches and network lines are interrupted due to faults, data transmission paths among devices can be automatically reconfigured, so that real-time and reliable data transmission is guaranteed.
Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; while the invention has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.
Claims (6)
1. A large ladle crane PLC redundancy control network system is characterized by comprising:
disposed within the first electrical chamber:
a redundant PLC controller is arranged on the PLC controller,
a first distributed I/O device (2-1) and a second distributed I/O device (2-2),
a first actuator frequency converter control unit (3-2) and a second actuator frequency converter control unit (3-1),
a first data exchange (4-1);
set up at second electric room:
the second data switch (4-2), the second data switch (4-2) is matched with the first data switch (4-1) to realize data exchange between the first electric indoor equipment and the second electric indoor equipment;
a third actuator frequency converter control unit (3-3) and a fourth actuator frequency converter control unit (3-4),
a third distributed I/O device (2-3) and a fourth distributed I/O device (2-4),
a third data exchange (4-3);
set up in the driver's cabin:
the fourth data switch (4-4), the fourth data switch (4-4) and the third data switch (4-3) are matched to realize data exchange between the second electrical indoor equipment and the cab equipment;
a fifth distributed I/O device (2-5);
the redundant PLC controller, a first distributed I/O device (2-1), a second distributed I/O device (2-2), a third distributed I/O device (2-3), a fourth distributed I/O device (2-4), a fifth distributed I/O device (2-5) and a first execution mechanism frequency converter control unit (3-2), the second execution mechanism frequency converter control unit (3-1), the third execution mechanism frequency converter control unit (3-3), the fourth execution mechanism frequency converter control unit (3-4), the first data switch (4-1), the second data switch (4-2), the third data switch (4-3) and the fourth data switch (4-4) are respectively connected to a PROFINET network (5) with a ring topology structure.
2. The PLC redundant control network system of the large-scale casting crane according to claim 1, characterized in that the system further comprises a Y-LINK coupler (8) arranged in the first electric chamber, wherein the Y-LINK coupler (8) is used for respectively connecting a main hoisting height absolute value encoder (6-1), an auxiliary hoisting height absolute value encoder (6-2), a main trolley Gray bus (7-1), an auxiliary trolley Gray bus (7-2) and a main trolley Gray bus (7-3) for realizing three-dimensional positioning of the crane to the PROFINET network (5) of the ring topology structure.
3. The PLC redundant control network system of the large-scale casting crane according to claim 1, further comprising an industrial personal computer (10), a touch screen (11) and a wireless transmission module (12) which are connected with the redundant PLC controller through an industrial Ethernet; the industrial personal computer (10) is arranged in a first electric room, the touch screen (11) is arranged in a driver's cab, and the wireless transmission module (12) is used for being in communication connection with the ground central control room.
4. The PLC redundant control network system for the large-scale casting crane according to claim 1, wherein the redundant PLC controllers comprise a main controller (1-1) and a standby controller (1-2) which have the same structure, and the main controller (1-1) and the standby controller (1-2) run synchronously.
5. The PLC redundant control network system of the large-scale foundry crane according to claim 1, wherein the first actuator frequency converter control unit (3-2), the second actuator frequency converter control unit (3-1), the third actuator frequency converter control unit (3-3) and the fourth actuator frequency converter control unit (3-4) respectively realize data transmission with a frequency converter of the actuator through a DRIVE-CLiQ digital interface, and the actuator comprises a main hoisting mechanism, a secondary hoisting mechanism, a main trolley, a secondary trolley and a trolley mechanism of the large-scale foundry crane.
6. The PLC redundant control network system for the large-scale casting crane according to claim 5, wherein the first actuator frequency converter control unit (3-2) controls the first active rectifying unit and the first main hoisting inverter;
the second actuating mechanism frequency converter control unit (3-1) controls the auxiliary hoisting inverter, the first main trolley inverter and the first cart inverter;
a third actuating mechanism frequency converter control unit (3-3) controls the second active rectifying unit and the second main hoisting inverter;
the fourth execution mechanism frequency converter control unit (3-4) controls the auxiliary trolley inverter, the second main trolley inverter and the second cart inverter;
the first execution mechanism frequency converter control unit (3-2) and the third execution mechanism frequency converter control unit (3-3) are respectively provided with a CBE20 communication board for realizing torque master-slave control between the two main hoisting inverters.
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115108470A (en) * | 2022-08-29 | 2022-09-27 | 中建八局第二建设有限公司 | Redundancy control system and method applied to intelligent tower crane |
| CN116643481A (en) * | 2023-07-18 | 2023-08-25 | 河南卫华重型机械股份有限公司 | PLC fault switching standby control system for crane |
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| CN116643481B (en) * | 2023-07-18 | 2024-05-17 | 河南卫华重型机械股份有限公司 | PLC fault switching standby control system for crane |
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